Publication

Design and modelling of a flexure-based bistable gripper powered by shape memory alloys

Yves Perriard, Charles Baur
2026

Abstract

Due to increased demand for compact grippers in applications such as drone deliveries or cleanroom pick and place robots, bistable grippers powered by shape memory alloys (SMAs) are an elegant solution for replacing the traditional pneumatic grippers. But due to their complex behaviour, they are difficult to size and are, thus, rarely used in industrial applications. In this paper, a bistable flexure-based SMA-driven parallel gripper is presented that is lightweight, compact and resistance to friction and wear. The bistability is created by a buckled beam, designed using analytical modelling based on Euler-Bernoulli beam theory. The gripper actuation is performed by a pair of antagonistic SMA coils. The novel design methodology is validated using a functional gripper prototype with a total volume of 110 × 34 × 26 mm 3 , a maximum stroke of 2.5 mm for each jaw and a maximum gripping force of 1.4 N.

Official source

https://infoscience.epfl.ch/entities/publication/f5a9e9e9-cf63-4085-8826-0c3031e113d2

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Yves Perriard, Charles Baur
2026

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/f5a9e9e9-cf63-4085-8826-0c3031e113d2

About this result

Related concepts (31)

Robotics

Robotics is an interdisciplinary branch of electronics and communication, computer science and engineering. Robotics involves the design, construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist humans. Robotics integrates fields of mechanical engineering, electrical engineering, information engineering, mechatronics engineering, electronics, biomedical engineering, computer engineering, control systems engineering, software engineering, mathematics, etc.

Industrial robot

An industrial robot is a robot system used for manufacturing. Industrial robots are automated, programmable and capable of movement on three or more axes. Typical applications of robots include welding, painting, assembly, disassembly, pick and place for printed circuit boards, packaging and labeling, palletizing, product inspection, and testing; all accomplished with high endurance, speed, and precision. They can assist in material handling.

Shape-memory alloy

In metallurgy, a shape-memory alloy (SMA) is an alloy that can be deformed when cold but returns to its pre-deformed ("remembered") shape when heated. It is also known in other names such as memory metal, memory alloy, smart metal, smart alloy, and muscle wire. The "memorized geometry" can be modified by fixating the desired geometry and subjecting it to a thermal treatment, for example a wire can be taught to memorize the shape of a coil spring.

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Design and modelling of a flexure-based bistable gripper powered by shape memory alloys

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